Kinematic analysis of periodic continuous gaits for a bio-mimetic walking robot

摘要

This paper delivers a study on the motion analysis of a walking robot through dynamic simulation of biologically inspired walking gaits. We described a simple method of gait generation which enabled the robot to configure its pose at different orientations with adaptive leg stroke and stride lengths in our earlier work [12]. After having described a suitable gait generation method in [12], we now aim to simulate and review three different biologically inspired gaits namely, tripod gait, ripple gait and wave gait in terms of their unique leg sequential motions and kinematic characteristics. The simulation model is executed on an actual prototype robot with onboard sensors to draw a comparative analysis between the simulation and the actual system results. Finally, the paper concludes the significance of the proposed simulation setup for developing novel methods of gait generation in legged mobile robots